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          <h1 id="project_title">Master Sync</h1>
          <h2 id="project_tagline">Synchronize local ROS master to remote ROS masters</h2>

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This package contains a node to synchronize the local ROS master to remote ROS masters discovered by <a href="master_discovery.html">master_discovery</a> node. For synchronization the <a href="http://www.ros.org/wiki/ROS/Master_API">Master API</a> will be used. Thereby the regitration of topics/services are performed only on the local ROS master. To obtain a complete synchronization of two ROS master one master_sync node in <strong>each</strong> "ROS system" have to be started.
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The syncronization will be performed on each time the remote ROS master is changed. The change detection is done by the <a href="master_discovery.html">master_discovery</a> node. To avoid multiple calls over unreliable connections e.g. WiFi, needed for a synchronization, the XML-RPC server of the <a href="master_discovery.html">master_discovery</a> node is used to get the current state of the remote ROS master.
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<img src="images/usage/alert.png" align="middle"> in the current state the <a href="http://www.ros.org/wiki/ROS/Parameter%20Server%20API">ROS Parameter server</a> will be not synchronized.</p>

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<img src="images/usage/alert.png" align="middle"> The services and published topics of <a href="master_discovery.html">master_discovery</a> node are detected automatically!
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<h4>
<a name="Config" class="anchor" href="#designer-templates"><span class="octicon octicon-link"></span></a>
Configuration Parameter
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By default all possible topics and services are synchronized. If you want to synchronize or ignore a special set of topics or services you can use the configuration parameter. For details see <a href="http://wiki.ros.org/master_sync_fkie">ros wiki</a>.



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